function [P]=decomposeEmatrix(E)

[U,S,V] = svd(E);

W=[0 -1 0 ; 1 0 0; 0 0 1];
t=U(:,3);

t1=t/t(3,1);

t2=-t1;


R1=U*W*(V');


R2=U*(W')*(V');

P{1}=[R1 t1];

P{2}=[R1 t2];

P{3}=[R2 t1];

P{4}=[R2 t2];

P{5}=[R1 -R1*t1];

P{6}=[R1 -R1*t2];

P{7}=[R2 -R2*t1];

P{8}=[R2 -R2*t2];

P{9}=[-R1 -R1*t1];

P{10}=[-R1 -R1*t2];

P{11}=[-R2 -R2*t1];

P{12}=[-R2 -R2*t2];

P{13}=[-R1 t1];

P{14}=[-R1 t2];

P{15}=[-R2 t1];

P{16}=[-R2 t2];

P{17}=[R1 -(R1')*t1];

P{18}=[R1 -(R1')*t2];

P{19}=[R2 -(R2')*t1];

P{20}=[R2 -(R2')*t2];


P{21}=[-R1 -(R1')*t1];

P{22}=[-R1 -(R1')*t2];

P{23}=[-R2 -(R2')*t1];

P{24}=[-R2 -(R2')*t2];



P{25}=[R1' -(R1')*t1];

P{26}=[R1' -(R1')*t2];

P{27}=[R2' -(R2')*t1];

P{28}=[R2' -(R2')*t2];

end